POS MV V5 Installation and Operation Guide
Interfaces
and Data Formats
Copyright © Applanix Corporation, 2017
3-17
:XXAAAASMHHHHQMRRRRSMPPPP<CRLF>
Table 26: TSS1 Output Format
Field
Definition
Value
Units (If Applicable)
:
Start of packet
character
3A hex
ASCII
XX
Horizontal
acceleration
0 to +9.81 cm/s
2
3.83 cm/s
2
AAAA
Vertical
acceleration
0 to +40.96 cm/s
2
0.0625 cm/s
2
S
Space character 20 hex
ASCII
MHHHH
Heave
-99 to +99 m
1 cm
Q
Status flag
U = unaided mode - settled condition
u = unaided mode - settling
G = GNSS aided mode - settled condition
g = GNSS aided mode - settling
H = heading aided mode - settled condition
h = heading aided mode - settling
F = full aided mode - settled condition
f = full aided mode - settling
MRRRR
Roll
-90 to +90°
0.01°
S
Space character 20 hex
ASCII
MPPPP
Pitch
-90 to +90°
0.01°
<CRLF>
Carriage return
& line feed
0D hex and 0A
hex
ASCII
Note 1
: M = space if positive or minus if negative. You can use the MV-POSView Controller program to change the
sense of the roll, pitch and heave outputs.
Note 2
: POS MV sends records using the TSS1 format at an update rate from one to 200 Hz. It updates the TOV at
the same rate. The recommended minimum baud rate for use with this format is 9600 baud at 25 Hz.
Simrad 1000 Format
You can use this format with the Simrad 1000 multibeam sonar. The MV-POSView Controller
program is used to select the TSS or the Tait-Bryan convention of rotations for the attitude
measurement. Refer to page 2-29 for an explanation of these conventions.
The Simrad attitude data are a 10-byte message with the following format.
•
Sync format: 90 hex
•
Roll format: 2’s complement, LSB = 0.01°, roll sense i
s user selectable from the MV-
POSView Controller program
•
Pitch format: 2’s complement, LSB = 0.01°, pitch sense is user selectable from the
MV-POSView Controller program